From cd050b0290700e374e8af32152f6bf91fbe71b58 Mon Sep 17 00:00:00 2001
From: Kallinteris Andreas
<30759571+Kallinteris-Andreas@users.noreply.github.com>
Date: Sun, 21 Apr 2024 13:34:34 +0300
Subject: [PATCH] readd `iframe`s
---
blog.md | 6 ++++++
1 file changed, 6 insertions(+)
diff --git a/blog.md b/blog.md
index fb44b3568..54a89e9a4 100644
--- a/blog.md
+++ b/blog.md
@@ -85,14 +85,18 @@ For more information on all the arguments, see the documentation pages of `Human
```py
env = gymnasium.make('Ant-v5', xml_file='./mujoco_menagerie/anybotics_anymal_b/scene.xml', ctrl_cost_weight=0.001, healthy_z_range=(0.48, 0.68), render_mode='human')
```
+
Here all we have to do is change the `xml_file` argument, and set the `healthy_z_range`, because the robot has a different height than the default `Ant` robot. In general we will have to change the `healthy_z_range` to fit the robot.
+
### Example [Unitree Go1](https://github.com/deepmind/mujoco_menagerie/blob/main/unitree_go1/README.md)
```py
env = gym.make('Ant-v5', xml_file='./mujoco_menagerie/unitree_go1/scene.xml', healthy_z_range=(0.195, 0.75), ctrl_cost_weight=0.05)
```
+
+
## Using the `Humanoid` framework to create an RL environment for a Bipeds robot
@@ -100,9 +104,11 @@ env = gym.make('Ant-v5', xml_file='./mujoco_menagerie/unitree_go1/scene.xml', he
```py
env = gym.make('Humanoid-v5', xml_file='~/mujoco_menagerie/robotis_op3/scene.xml', healthy_z_range=(0.275, 0.5), include_cinert_in_observation=False, include_cvel_in_observation=False, include_qfrc_actuator_in_observation=False, include_cfrc_ext_in_observation=False, ctrl_cost_weight=0, contact_cost_weight=0)
```
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For a more detailed tutorial, check the tutorial for [loading quadruped models](https://gymnasium.farama.org/main/tutorials/gymnasium_basics/load_quadruped_model/).
+
# Full Changelog
For more information about the development of the `Gymnasium/MuJoCo-v5` environments and a complete changelog, check the [GitHub PR](https://github.com/Farama-Foundation/Gymnasium/pull/572).